\section{Conclusions} \label{sec:conclusion}
\noindent
We proposed a design framework for distributed embedded control
applications with support for execution even if some computation nodes
in the system fail. We presented an
algorithm to identify and construct mappings for the base
configurations of the distributed system to achieve fault-tolerant
operation. To improve the overall control quality on top of
the minimum level of quality provided by the base
configurations, we construct additional design solutions efficiently.
The system can thus adapt to situations in which nodes have failed
by adapting to an appropriate solution that has been synthesized at design time.

We note that our framework is not restricted to control applications,
but can be adapted to other application domains for which distributed
platforms and fault-tolerance requirements are inherent.  In
particular, our idea of base configurations is general and may be
applied to any application area. Information regarding base
configurations also serve as an indication to the designer of the
computation nodes that are of particular importance related to fault
tolerance. Hardware replication of nodes in base configurations reduce
the probability of reaching unfeasible configurations, whereas all
other fault scenarios are handled with the less costly software
approach that we have proposed. The design space exploration problem
is relevant for other application domains for which performance
metrics exist and depend on the available computing and communication
resources.
